Kerr's most popular picture books also included the Mog series, which began with Mog the Forgetful Cat in 1970.

As a child of the pre-war German intelligentsia, Kerr had to leave her home country with her Jewish parents when Adolf Hitler came to power.

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Media captionHow Judith Kerr created a tiger story which charmed the world

The family came to London, via Paris, in 1936 when Judith was 13. She learned perfect English and went on to marry television scriptwriter Nigel Kneale and have two children of their own.

Her books also included a trilogy of books about her childhood and her status as a refugee, the first of which was When Hitler Stole Pink Rabbit, which became a set text in German schools.

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Media captionJudith Kerr: 'Drawing plays an important role in my life'

Children's author and TV personality David Walliams said he was "so sad" at the news of her death.

"She was a legendary author and illustrator, whose stories and illustrations gave pleasure to millions around the world, not least me and my son. Judith is gone but her books will live on forever."

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Media captionJudith Kerr revisits the childhood home in Berlin she was forced to flee with her family

Francesca Simon, author of the Horrid Henry children's books, told BBC Radio 5 Live she was "feeling so sad about this".

"The fact that she was in her 90s and still so engaged with children's books, and the fact that she came to this country as a refugee and the life that she led."

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The Tiger Who Came to Tea still entertains children today

She said of Kerr's famous Tiger tale: "It is a perfect book, because it is a mysterious book.

"On the surface it's a very simple story. It's a tiger who comes in, and is this guest who you're not sure about. But her stories also have this undertone of emotion, which is I think why we keep going back to them, to kind of delve into their mysteries.

"As well as the most beautiful and glorious illustrations. Her artwork is fantastic.

'Forever in our imaginations'

"And I love, as a writer myself, that she was writing and illustrating up to the end. In fact I was just trying to get tickets to see her at Hay-on-Wye next week. So I love her continuous engagement with her profession. To me that's unbelievably inspiring."

BBC Newsnight presenter Emily Maitlis once asked Kerr if there was any layered meaning beneath The Tiger Who Came to Tea, but was set straight by the author.

Kerr's publisher at HarperCollins, Ann-Janine Murtagh, said it had been "the greatest honour and privilege to know and publish Judith Kerr for over a decade", describing her as a person who "embraced life as one great big adventure and lived every day to the full".

The late author was also the patron of the Judith Kerr Primary School; the UK's only German and English bilingual state school, named in her honour.

The school tweeted to say how "devastated" they were to hear the news.